52 results about "Caster angle" patented technology

A multi-vehicle control system (MVCS) for control of a multi-vehicle system having independently powered and steered lead and trailer vehicles connected by a slidable length sensing tow bar system. The MVCS includes a controller configured to receive throttle, brake, and steering signals from the lead vehicle, receive signals from the tow bar system indicating an extension length of the tow bar system, a front angle deviation of the lead vehicle, and a rear angle deviation of the trailer vehicle. The controller is further configured to determine, based on the received signals, a trailer vehicle acceleration / deceleration output and a trailer vehicle steering output, determine a driving scenario of the multi-vehicle system, and operate the multi-vehicle system based on the determined driving scenario and the determined trailer vehicle acceleration / deceleration output and trailer vehicle steering output.

An over actuated system capable of controlling wheel parameters, such as speed (e.g., by torque and braking), steering angles, caster angles, camber angles, and toe angles, of wheels in an associated vehicle. The system may determine the associated vehicle is in a rollover state and adjust wheel parameters to prevent vehicle rollover. Additionally, the system may determine a driving state and dynamically adjust wheel parameters to optimize driving, including, for example, cornering and parking. Such a system may also dynamically detect wheel misalignment and provide alignment and / or corrective driving solutions. Further, by utilizing degenerate solutions for driving, the system may also estimate tire-surface parameterization data for various road surfaces and make such estimates available for other vehicles via a network.

The invention discloses a high-integration driving unit with an active variable geometric positioning parameter function. The high-integration driving unit is mainly composed of a wheel assembly, a suspension system, a first actuator and a second actuator. The actuator is arranged on the upper control arm, so that the mechanical load borne by the actuating mechanism during working is effectively reduced. The interior of the actuator is driven by a self-locking mechanism, continuous energy consumption is not needed when positioning parameters are maintained, and the steady-state power consumption of the system is remarkably reduced. In the aspect of mechanism connection, through combined arrangement of kinematic pairs, accurate matching of the degree of freedom of movement of the mechanism is achieved, the problems of interference and movement uncertainty in the adjusting process are effectively solved, and the accuracy of action execution is ensured. The unit integrates the functions of steering, active variable camber, active variable kingpin caster angle and fault tolerance. Dynamic real-time adjustment of geometric parameters is achieved through the compact structural layout, the vehicle control limit and stability are improved, and meanwhile the space utilization rate and work reliability are extremely high.

The invention provides a posture adjusting method, system and equipment for a cold regenerator and a medium, and belongs to the technical field of cold regenerator control, the method comprises the following steps: descending four supporting legs of the cold regenerator before construction, enabling the whole machine to be horizontal, enabling a milling hub to be flush with the ground, and recording the heights of the four supporting legs as zero point heights; lowering the milling hub to a target cutting depth, and collecting initial values of a left-right inclination angle, a front-back inclination angle, four support leg oil cylinder pressures and an engine load rate corresponding to the zero point height; in the construction process, the real-time values of the left-right inclination angle, the front-back inclination angle, the pressure of the four supporting leg oil cylinders and the engine load rate are collected in real time; the change of the real-time value relative to the initial value is compared, the state of the corresponding supporting leg is judged to be pressed to the obstacle or the pit, the corresponding supporting leg ascends or descends till the collected real-time value recovers to the initial value, and automatic adjustment of the posture of the cold regenerator is completed. The machine body can be automatically kept horizontal, it is guaranteed that the cutting depth is stable, and construction precision and efficiency are improved.

A suspension device includes: a drive unit mounted inside a wheel; a first knuckle connected to the driving unit to rotate about a first axis; a second knuckle connected to the first knuckle to move along a second axis spaced apart from the first axis; a first suspension arm connected to the second knuckle to support the second knuckle with respect to a vehicle body; and a restricting member connected to the first suspension arm to restrict rotation of the second knuckle about the second shaft. A suspension device capable of reducing a kingpin offset value and improving driving stability of a vehicle by disposing a first shaft serving as a steering shaft of a wheel at a position relatively close to the wheel. A suspension device according to the present disclosure may absorb relative displacement between a second knuckle and a first arm body / limiting link due to a caster angle of a second shaft during a suspension behavior of a wheel through a first joint and a limiting joint.

The invention discloses a double-airbag damping base, a method and a passenger car seat, and relates to the technical field of vehicle damping, the double-airbag damping base comprises a base body, a first airbag and a second airbag are arranged in the base body in parallel, and an air path control unit is connected between the first airbag and the second airbag; the air path control unit comprises an air source and an electromagnetic valve set. The electromagnetic valve set comprises a first inflation electromagnetic valve and a first deflation electromagnetic valve which are connected with the first air bag, and a second inflation electromagnetic valve and a second deflation electromagnetic valve which are connected with the second air bag. The first inflation electromagnetic valve and the second inflation electromagnetic valve are connected to the output end of the air source in parallel. The electromagnetic valve set is connected with the controller which is used for adjusting the state of the electromagnetic valve set according to the control instruction and adjusting the inclination angle of the damping base. Inflation and deflation of the two air bags are controlled independently or in a linkage mode through the air path control unit, the supporting height of the air bags is changed, stepless and smooth adjustment of the front inclination angle or the rear inclination angle of the base is achieved, and fatigue caused by long-time driving can be effectively relieved.

Provided is a vehicle passenger seat airbag device and a vehicle passenger seat airbag control method. The vehicle passenger seat airbag device includes an airbag that is housed in an instrument panel of a vehicle and that is inflated and deployed toward an occupant seated on a passenger seat by supplying gas from an inflator. When a front collision of the vehicle is predicted or detected in a state in which a reclining angle of a seat back of the passenger seat is set to be equal to or greater than a predetermined angle, a position of a deployment surface of the airbag that comes into contact with the head of the occupant is changed to a second position that is located further to the rear of the vehicle than a first position when the reclining angle of the seat back is less than the predetermined angle.

The present application relates to a vehicle control system. A control device is configured to execute, when a steering request is received in a parking state or a creep state in which a vehicle speed does not exceed a predetermined vehicle speed from the parking state, a caster change control of controlling a driving force application device or a driving force application device and a braking force application device in such a manner that a caster of the steering wheel is reduced, the control device applying, in the caster change control, a driving force in a direction toward the other wheel to one of front and rear wheels and applying a braking force or a driving force in a direction toward the one wheel to the other wheel so as to become the parking state or the creep state in response to a request related to acceleration or deceleration.

To provide a vehicular occupant protection device that can protect the head of an occupant, at the time of side collision of a vehicle, without having influence on inflation and expansion of a curtain airbag, regardless of an angle of backward tilting of a seat back of a vehicular seat.SOLUTION: A vehicular occupant protection device 10 is provided with: a side air bag 42 for a head, loaded on at least an outside end part in a vehicle width direction in a headrest 18 of vehicular seat 14, which is configured to be supplied with gas at the time of side collision of a vehicle 12 to inflate and expand toward a front side of the vehicle, at least outside in the vehicle width direction of the head H of an occupant P seated on a seat cushion 15 of the vehicular seat 14; and a curtain airbag 32, loaded on least on a roof side rail 28 of the vehicle 12, which is supplied with gas at the time of side collision of the vehicle 12 to inflate and expand toward a lower side of the vehicle. The side airbag 42 for the head is configured to inflate and expand only when the seat back 16 of the vehicular seat 12 is tilted backward at more than a predetermined angle.SELECTED DRAWING: Figure 1

The utility model discloses a connecting device for changing a caster angle and an independent suspension with the same, and the connecting device for changing the caster angle comprises a horizontal adjusting mechanism which is arranged between an upper swing arm assembly and a lower swing arm assembly and two ends of a steering knuckle and is used for changing the fixed positions of the two ends of the steering knuckle in the X direction of a vehicle, the angle adjusting mechanism is used for changing the included angle between the vertical line of the axis of the overdrive half shaft and the axis of the steering knuckle. According to the connecting device for changing the caster angle, the caster angle of a kingpin of a vehicle can be conveniently adjusted under the condition that an independent suspension is not integrally disassembled.

This disclosure provides a vehicle and a control method, a control device and a storage medium, the method comprising the steps of: obtaining the wheel speed difference at the current vehicle speed when it is determined that the vehicle's steer-by-wire system has failed; obtaining a positive scrub radius value; determining a target steering angle for the wheels using the wheel speed difference and the positive scrub radius value; and controlling the wheels using the target steering angle. The method of this disclosure enables steering control of the vehicle using the wheel speed difference and positive scrub radius when the steer-by-wire system fails, and does not require the addition of other components, thereby providing an external backup system after steer-by-wire failure, improving vehicle safety and reducing costs.

Disclosed is a vehicle tuning and calibration system and associated methods for diagnosing and correcting issues involving vehicle performance, driving characteristics, and / or driver assist features. The system includes multiple sensor packages with connectors for mounting a different sensor package to a different wheel of a vehicle. Each sensor package includes sensors that generate measurements for a positioning and movements of the wheel onto which that sensor package is mounted. The system also includes a controller that receives the measurements generated by the sensor packages mounted to the different wheels of the vehicle. The controller generates a user interface with visual representations that are derived from the measurements. The visual representations may identify toe, camber, caster, and other alignment issues detected for different wheels, adjustments to correct the detected issues, and positions and orientations at which to place targets relative to the vehicle for vehicle sensor calibration.

A vehicle control system according to various embodiments can include a control unit that receives data from a plurality of sensors which monitors an electronic limited slip differential mounted to a vehicle and detects road conditions. A prediction module executed by a processor predicts, based on electronic limited slip differential data and road condition data received by the control unit, a wheel alignment adjustment for the road conditions that the vehicle approaches and encounters along a road and generates a control signal based on the predicted wheel alignment adjustment. A wheel alignment adjustment mechanism, connected to a wheel mounted to the vehicle, automatically adjusts the wheel alignment for the wheel in response to the control signal such that at least one of a camber angle, a toe angle, and a caster angle for the wheel is adjusted as the vehicle travels across varying road conditions.

Modular track widening device for off-road vehicles with rigid axle (1), characterized in that it consists of two coaxially screwable spacer discs - an inner spacer disc (2) and an outer spacer disc (3) - per side of the vehicle, wherein the spacer discs are mounted further inwards on the axle and an angular offset between the discs is provided by the bore arrangement for caster correction in raised vehicles, and the device is designed in such a way that the original steering roll radius is maintained.

The invention discloses a large-span suspended pouring beam prestress tensioning construction device which comprises suspended pouring beam sections and a hanging basket assembly. The hanging basket assembly is composed of a quadrilateral frame, a track structure, a bottom beam structure, a middle beam structure, a middle portal, a front upper cross beam, a sling structure, an anchoring rib structure and a molding structure. The quadrilateral frame adopts a parallelogram frame design, and stable movement of the hanging basket can be achieved in cooperation with a rail structure. And by arranging the anchor bar stress adjusting structure and the sling stress adjusting structure, the construction linear control precision and the structural rigidity are effectively improved. A stress interference wheel structure integrated in the system can actively limit the front-back inclination angle in the hanging basket forward moving and anchor disengaging process, and the hanging basket is prevented from deviating and losing stability. Molding structures such as the inner mold and the side mold are flexibly connected through guide beams and roller hanging brackets, and rapid hoisting and dismounting are facilitated. And pre-pressing loading and real-time monitoring measures further ensure the construction quality and safety of the beam body.

The present invention relates to the technical field of diaphragm wall construction equipment, in particular to a TPD method machine and its construction method, which includes a chassis system, a vehicle frame, a gantry system and a chain cutter assembly. The vehicle frame is installed on the chassis system, and the gantry system is arranged on the vehicle frame and connected through front and rear tilt cylinders. The chain cutter assembly is installed on the lifting frame of the gantry system. The chassis system is composed of two sets of traveling components, a connecting beam and a mounting seat. The vehicle frame is connected to the chassis through a slide rail system and is equipped with front and rear drive cylinders. The gantry system is composed of a fixed gantry and a rotating gantry, including a central rotating shaft tooling and a secondary rotating shaft tooling, as well as left and right tilt cylinders for adjusting the inclination angle of the rotating gantry. This solution improves the verticality control accuracy of the chain cutter assembly and the inclination angle adjustment ability of the gantry system.

The invention discloses a double-kingpin steering type double-wishbone hub motor self-stabilization high-integration traveling unit which comprises a wheel assembly, a first steering system, a second steering system and a suspension system. The running unit integrates a driving system, a braking system, a rotating system and a suspending system, wherein the driving system and the braking system are integrated on the wheel assembly. The first steering system is a main steering system and has a main pin positioning parameter meeting the operation stability requirement of the vehicle; the second steering system is an auxiliary steering system and is a backup system of the main steering system, and a main pin of the second steering system is perpendicular to the wheel ground plane. When the speed of a vehicle applying the plurality of driving units is in a shimmy dangerous interval, the driving units actively reduce a kingpin caster angle, increase a kingpin inclination angle and a wheel camber angle by controlling the mutual cooperation of the first steering system and the second steering system on the premise of ensuring that the target wheel rotation angle is not changed, so that the shimmy effect of the vehicle is improved. The active suppression of the wheel swing amplitude is realized, and the driving safety of the vehicle is ensured.

Steering system (LS) for at least one trailing or leading axle of a vehicle, comprising: - a steering angle sensor (S α ) for measuring a steering angle of wheels of a front axle of the vehicle, - a vehicle speed sensor (S v ) to measure the driving speed of the vehicle, - an electric motor (1.2) driving a hydraulic pump (2), - a working cylinder (11) for steering the wheels of the trailing axle, which is connected to the hydraulic pump (2) via supply lines (7 and 7.1), - a control unit (1.1) which uses the data from the steering angle sensor (S α ) and the vehicle speed sensor (S v ) determines a caster angle of the wheels on the trailing axle of the vehicle and controls the electric motor (1.2) accordingly, - wherein the working cylinder (11) has a central position bore (11.3) through which hydraulic fluid can be discharged from the working cylinder (11), - wherein the center position bore (11.3) of the working cylinder (11) is connected to a center position valve (12) through which hydraulic fluid can flow back into an oil tank (6), and - wherein a piston (14.1) closes the center position bore (11.3) when the wheels of the trailing axle are in the straight-ahead position, characterized in that the piston (14.1) has a piston seal (14.2) and a piston guide, wherein the center position bore (11.3) can only be closed by the piston seal (14.2), that the piston guide is taken over directly by an area on the piston (14.1) and wherein diagonal or axial grooves are introduced into this area, which ensure a sufficient flow of oil between the piston guide and the cylinder tube into the center position bore (11.3), or that the piston (14.1) has a guide ring (14.3) for the piston guide, in which guide ring diagonal or axial grooves are introduced, which ensure a sufficient flow of oil between the piston guide and the cylinder tube into the center position bore (11.3).

The utility model discloses an ergonomic bicycle saddle adjusting mechanism, and relates to the technical field of bicycle saddles, the ergonomic bicycle saddle adjusting mechanism comprises a saddle body and a supporting rod, a fixing frame is fixedly installed at the bottom of the saddle body, and an angle adjusting assembly and a distance adjusting assembly are arranged between the fixing frame and the supporting rod. The angle adjusting assembly comprises a supporting sliding block, an elastic supporting plate, a connector, a threaded sleeve and a supporting threaded rod. According to the technical scheme provided by the utility model, the angle adjusting assembly is arranged, specifically, the screw sleeve is rotated to be meshed with the supporting screw rod during use, and the supporting length of the supporting screw rod and the screw sleeve can be adjusted, so that the front-back inclination angle of the cushion body can be directly adjusted, and the angle of the seat body can be conveniently adjusted.

The present application relates to a vehicle seat and a method for controlling the vehicle seat, the vehicle seat comprising: a seat cushion on which an occupant is seated; a seat back which is configured so as to be capable of tilting backwards and which supports the back of the occupant; a lifting mechanism which is provided in the seat cushion and which lifts the front part of the seat surface of the seat cushion; and a pressing mechanism that is provided in the seatback, presses a portion of the front surface of the seatback toward the front side of the seat, and operates the pressing mechanism after operating the raising mechanism when the reclining angle of the seatback is equal to or greater than a predetermined angle and a frontal collision of the vehicle is predicted.

The utility model relates to the field of automobile detection technology discloses a four -wheel alignment detection device of car, including bottom plate, still include: the slider that sets up in the top of bottom plate, the top of bottom plate is provided with the pressing plate, the outside of slider is connected with the support block of sliding, set up in the support block top for the support mechanism of four -wheel alignment of car, the utility model discloses through setting positioning mechanism can be convenient for four -wheel alignment in the detection positioning, four -wheel alignment detection device can accurately measure the various parameters of wheel, such as the caster angle and the inner inclination angle of front wheel kingpin and the camber angle of rear wheel, ensure that tire positioning is accurate, through setting support mechanism can be convenient for supporting when tire travels, and can limit the rear wheel, can disperse the pressure of tire and suspension system, avoid damaging due to excessive stress in the detection process, and can fix the position of rear wheel, prevent the rear wheel from deviating or moving in the detection process.

The small drilling device for detecting the hydraulic ring geology comprises a rack, walking wheels are rotationally connected to the front ends and the rear ends of the two sides of the rack correspondingly, the front and rear corresponding walking wheels are in transmission through a crawler belt, a transverse adjusting assembly is arranged on the front side of the rack, and a first dip angle adjusting assembly is arranged on the front side of the transverse adjusting assembly; a second inclination angle adjusting assembly is arranged at the front end of the first inclination angle adjusting assembly. According to the device, the device can be driven to move through the arranged walking motor, walking wheels and a crawler belt, the transverse displacement of the drilling assembly can be adjusted through the arranged transverse adjusting assembly, and geology on the same straight line can be conveniently drilled; the front-back inclination angle and the left-right inclination angle of the drilling assembly can be adjusted through the first inclination angle adjusting assembly and the second inclination angle adjusting assembly, and therefore the drilling device can adapt to drilling in more complex terrains.

1. The name of the design product: camber angle detector. 2. The use of the design product: used in car repair shop, 4S shop and tire shop, which is matched with magnetic flat water instrument to measure four-wheel positioning (including toe, camber, kingpin caster angle, etc.) equipment. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The present invention relates to a multi-link rear suspension assembly and an automobile, including a knuckle, a front upper swing arm, a rear upper swing arm, a front lower swing arm, a rear lower swing arm, a toe control arm, a shock absorber and a rear subframe; the outer ends of the five swing arms are all connected to the knuckle, the inner ends of the five swing arms are all connected to the rear subframe, and the shock absorber is connected to the rear lower swing arm; the included angle between the connecting line of the inner and outer points of the rear upper swing arm and the Y-axis is 25 to 35°; the included angle between the connecting line of the inner and outer points of the toe control arm and the Y-axis is 5 to 15°; the included angle between the connecting line of the inner and outer points of the front lower swing arm and the Y-axis is 25 to 45°; the included angle between the connecting line of the inner and outer points of the front upper swing arm and the Y-axis is 15 to 25°; the distance between the rear upper swing arm and the wheel center is 60 to 80 mm; the distance between the rear upper swing arm and the shock absorber is greater than or equal to 10 mm. Through the above constraints, the kingpin inclination of the rear wheels can be controlled between 3 and 5°, and the caster angle can be controlled between -3 and -1°, so that the automobile can have better handling performance and riding comfort.

The invention relates to a self-leveling crawler tractor which comprises a walking frame, a crawler walking mechanism arranged at the lower end of the walking frame and a chassis arranged above the walking frame, the crawler walking mechanism is used for driving the walking frame to move, and a first leveling mechanism used for leveling the chassis left and right is arranged between the chassis and the walking frame. A second leveling mechanism used for leveling the chassis front and back is further arranged between the chassis and the walking frame, a tractor rack is arranged on the chassis, and a double-shaft tilt angle sensor is further arranged on the chassis and used for detecting the front-back tilt angle and the left-right tilt angle of the chassis. Automatic left-right and front-back leveling of the chassis is achieved, it is guaranteed that the chassis is kept horizontal all the time when the tractor runs and operates on complex terrains, and stability and operation precision are improved.

The invention relates to the technical field of commercial vehicle testing devices, and discloses a commercial vehicle door closing performance testing rack and a testing method, and the rack comprises a supporting device, an adjustable sound cabin testing device, a cab simulation testing device, and a vehicle door testing device. The adjustable sound cabin testing device is arranged on the right side of the upper end of the supporting device, the cab simulation testing device is fixedly embedded in the left side of the adjustable sound cabin testing device, and the lower end of the cab simulation testing device is fixed to the upper end face of the supporting device. The internal space of the cab simulation test device is communicated with the internal space of the box body structure of the adjustable sound cabin test device; the vehicle door testing device comprises a vehicle door and a vehicle door hinge supporting device, the vehicle door is fixed at a door frame position corresponding to the cab simulation testing device in an openable and closable sealing manner, the vehicle door hinge supporting device is fixed on the upper end surface of the supporting device, and the vehicle door hinge supporting device is hinged to the vehicle door; according to the invention, a plurality of core index tests such as vehicle door front and back inclination angles and vehicle door inner and outer inclination angles can be realized.

To reduce air resistance when a vehicle travels, while securing the appearance design of a rear part of a vehicle body.SOLUTION: A vehicle-body rear part structure includes: a lid body 4 forming a part of a vehicle-body rear surface portion 2; a rear pillar 6 extending in a vertical direction along right and left ends-side portions of the lid body 4 and forming a part of a vehicle-body side surface portion 3 of a vehicle-body rear part; and a duct 10 having a duct inlet portion 11 configured to take in a traveling air flowing along an external surface of the vehicle-body side surface portion 3 in front of the rear pillar 6, and a duct outlet portion 12 configured to discharge the traveling air, which has passed through an inner part of the rear pillar 6, from the vehicle-body rear surface portion 2 on each of right and left sides thereof. The vehicle-body side surface portion 3 is provided with a side spoiler portion 30 protruding rearward from a vehicle-width outer part of the duct outlet portion 12 over a vertical width of the duct outlet portion 12. An external surface of the side spoiler portion 30 is provided so as to be smoothly continuous rearward from a rear end of the external surface of the vehicle-body side surface portion 3 and is formed at a rear narrowing angle larger than a rear narrowing angle in a horizontal cross section of the external surface of the vehicle-body side surface portion 3.SELECTED DRAWING: Figure 3

The utility model relates to the technical field of electric vehicle suspension, in particular to an electric vehicle front suspension structure which comprises a lower frame body, a middle frame body fixed to the top of the lower frame body, an upper frame body fixed to the top of the middle frame body, a steering gear box arranged on the lower frame body, pull rods in transmission connection with the two sides of the steering gear box, and a ball head at one end of each pull rod is connected with a claw. The connecting arm is arranged above the steel plate spring; a connecting arm ball head is connected with a balance rod; the other end of the balance rod is connected with an upper frame body ball head; a cleat bottom ball head is connected with a triangular arm, the triangular arm is hinged to the lower frame body, a damper is hinged to the top of the triangular arm, and the damper is hinged to the upper frame body; the steel plate spring, the triangular arm, the balance rod and the cleat restrain the wheel, so that the caster angle of a main pin of the wheel is 3 + / -0.5 degrees, the camber angle of the main pin is 1 + / -0.5 degrees, a left pull rod and a right pull rod of a steering gear are adjusted to ensure that the toe-in is 3-5mm, the driving performance and the stability of an automobile are improved, the front wheel is automatically returned after turning, side inclination is prevented, and tire abrasion deviation is reduced.

The invention provides an occupant protection system and a vehicle, which are beneficial for protecting the lumbar vertebra and the like of an occupant. An occupant protection system (1) is provided with: a collision detection sensor (40); a seat state detection sensor (41) for detecting the reclining angle of the seat back; an upper body protection device (20); a lower body protection device (30); the control unit has: a vehicle state detection unit (52) that detects the state of the vehicle; a seat state determination unit (53) that determines the state of the vehicle seat; and an operation order determination unit (55) that determines the operation order of the upper body protection device and the lower body protection device on the basis of the states of the vehicle and the vehicle seat. And a protection device operation unit (56) that operates the upper body protection device and the lower body protection device on the basis of the operation order. When a collision of the vehicle is detected and the seat back is inclined beyond a predetermined angle, the operation order determination unit determines to operate the upper body protection device prior to the lower body protection device, and the protection device operation unit operates the upper body protection device and then operates the lower body protection device.

The utility model relates to the related technical field of vehicle four-wheel positioning, and discloses a vehicle four-wheel positioning device which comprises one or more detectors, each detector comprises an instrument shell, a circuit board is arranged in each instrument shell, and the circuit board is connected with the instrument shell. The circuit board is provided with an MCU micro-control unit, a micro-electro-mechanical triaxial accelerometer, a triaxial micro-electro-mechanical gyro sensor and a wireless transmission module, and the micro-electro-mechanical triaxial accelerometer, the triaxial micro-electro-mechanical gyro sensor and the wireless transmission module are all connected with the MCU micro-control unit; according to the utility model, a handheld small instrument is combined with a micro-electro-mechanical three-axis accelerometer and a three-axis micro-electro-mechanical gyro sensor to calculate all angles of wheels of a vehicle, wherein the angles comprise a kingpin caster angle, a kingpin inclination angle, a front wheel camber angle and a front wheel toe-in angle. A user can carry out four-wheel positioning in a garage of himself or herself or rapidly inspect a parking lot, and due to the fact that a fixed place and large-scale measuring equipment are not needed, large-scale wheels can also be rapidly subjected to four-wheel positioning measurement outdoors.